1
play

1 utilizing 3D fruit reachability and kinematic modeling Stavros - PowerPoint PPT Presentation

Jul 07, 2023 •327 likes •693 views

A rapid prototyping design tool for pear harvest-aid platforms 1 utilizing 3D fruit reachability and kinematic modeling Stavros Vougioukas 1 , Rajkishan Arikapudi 1 , David Slaughter 1 , Fadi Fathallah 1 , Rachel Elkins 2 , Chuck Ingels 3 1

  1. A rapid prototyping design tool for pear harvest-aid platforms 1 utilizing 3D fruit reachability and kinematic modeling Stavros Vougioukas 1 , Rajkishan Arikapudi 1 , David Slaughter 1 , Fadi Fathallah 1 , Rachel Elkins 2 , Chuck Ingels 3 1 Biological and Agricultural Engineering Department, University of California, Davis. 2 University of California Cooperative Extension, Lake and Mendocino Counties. 3 University of California Cooperative Extension, Sacramento County.

  2. Goal: Harvesting machine design tool 2 Tree training system & orchard layout Design tool 3D fruit distributions Platform kinematics Worker kinematics & work practices

  3. Mechanical pear harvesting 3 Four possibilities for pear picking Branch hitting 1.  Impractical for pears. Limb shaking 2.  Inefficient.

  4. Mechanical pear harvesting 4 Trunk shaking 3. Mehlschau 1974  Too much bruising.  What if fruits could decelerate somehow?

  5. Design issues 5  How many tines? Mehlschau 1974  What configuration?  What sizes?  Branch interference?  Fruit drop distances?  …  How can we evaluate different designs?

  6. Mechanical pear harvesting 6 Robotic picking 4.  Technical problems  Design / efficiency problems.

  7. Design Issues 7  Could actuator arrays achieve high picking efficiency and speed?  How many arms?  What configuration?  What sizes/envelopes?  How do branches interfere?  …  How can we evaluate different designs?

  8. Goal: Harvesting machine design tool 8 Tree training system & orchard layout Design tool 3D fruit distributions Platform kinematics Worker kinematics & work practices

  9. Year 2 of project; ends March 2014 9 Funding sources for 2013-14 Canning Peach Mechanization California Pear Advisory Board Research Fund

  10. Methodology 10 10

  11. Data collection 11  7/24/13: Joe Green Ranch, Courtland  Trees: Open-vase, ~33 yrs old; Bosc.  8/12/13: Dan Family Ranch, Lakeport  Trees: Hedged, ~12 yrs old; Red Bartlett.  8/13/13: Ruddick Ranch, Ukiah  Trees: Open-vase, ~ 15 yrs; Yellow Bartlett.  8/14/13: Ruddick Ranch, Ukiah  Trees: High Density Trellis, ~ 3 yrs; Yellow Bartlett.

  12. DATE: 7/24/2013 WHAT: Pear trees, standard open-vase Joe Green Ranch AGE: ~33 yrs TREE HEIGHT: ~14ft VARIETY: Bosc Joe Green Ranch � WHERE: 12

  13. DATE: 7/24/2013 WHAT: Pear trees, standard open-vase Joe Green Ranch AGE: ~33 yrs TREE HEIGHT: ~14ft VARIETY: Bosc Joe Green Ranch � WHERE: 13

  14. DATE: 7/24/2013 WHAT: Pear trees, standard open-vase Joe Green Ranch AGE: ~33 yrs TREE HEIGHT: ~14ft VARIETY: Bosc Joe Green Ranch � WHERE: 14

  15. DATE: 7/24/2013 WHAT: Pear trees, standard open-vase Joe Green Ranch AGE: ~33 yrs TREE HEIGHT: ~14ft VARIETY: Bosc Joe Green Ranch � WHERE: 15 Radial distance of fruits from trunk

  16. DATE: 7/24/2013 WHAT: Pear trees, standard open-vase Joe Green Ranch AGE: ~33 yrs TREE HEIGHT: ~14ft VARIETY: Bosc Joe Green Ranch � WHERE: 16 4000 mm = 13.1 ft

  17. DATE: 8/12/2013 Dan Family Ranch Hedged WHAT: Pear trees, Trellis AGE: ~12 yrs Lakeport TREE HEIGHT: ~16ft VARIETY: Bartlett 17 WHERE: Dan Family Ra

  18. DATE: 8/12/2013 Hedged WHAT: Pear trees, Trellis Dan Family Ranch AGE: ~12 yrs TREE HEIGHT: ~16ft VARIETY: Bartlett 18 WHERE: Dan Family Ra

  19. DATE: 8/12/2013 Hedged WHAT: Pear trees, Trellis Dan Family Ranch AGE: ~12 yrs TREE HEIGHT: ~16ft VARIETY: Bartlett 19 WHERE: Dan Family Ra

  20. DATE: 8/12/2013 Hedged WHAT: Pear trees, Trellis Dan Family Ranch AGE: ~12 yrs TREE HEIGHT: ~16ft VARIETY: Bartlett 20 WHERE: Dan Family Ra

  21. DATE: 8/12/2013 Hedged WHAT: Pear trees, Trellis Dan Family Ranch AGE: ~12 yrs TREE HEIGHT: ~16ft VARIETY: Bartlett 21 WHERE: Dan Family Ra Distance of fruits from tree-row

  22. Ruddick Ranch, Ukiah 22

  23. Ruddick Ranch 23

  24. Ruddick Ranch 24

  25. Ruddick Ranch 25

  26. Ruddick Ranch 26 Radial distance of fruits from trunk

  27. Ruddick Ranch 27 4000 mm = 13.1 ft

  28. DATE: 8/14/2013 WHAT: Pear trees, High Density Trellis Ruddick Ranch AGE: ~ 3 yrs TREE HEIGHT: ~9ft VARIETY: Bartlett Ruddick Ranch, Ukiah � WHERE: 28

  29. DATE: 8/14/2013 WHAT: Pear trees, High Density Trellis Ruddick Ranch AGE: ~ 3 yrs TREE HEIGHT: ~9ft VARIETY: Bartlett Ruddick Ranch, Ukiah � WHERE: 29

  30. DATE: 8/14/2013 WHAT: Pear trees, High Density Trellis Ruddick Ranch AGE: ~ 3 yrs TREE HEIGHT: ~9ft VARIETY: Bartlett Ruddick Ranch, Ukiah � WHERE: 30

  31. DATE: 8/14/2013 WHAT: Pear trees, High Density Trellis Ruddick Ranch AGE: ~ 3 yrs TREE HEIGHT: ~9ft VARIETY: Bartlett Ruddick Ranch, Ukiah � WHERE: 31

  32. DATE: 8/14/2013 WHAT: Pear trees, High Density Trellis Ruddick Ranch AGE: ~ 3 yrs TREE HEIGHT: ~9ft VARIETY: Bartlett Ruddick Ranch, Ukiah � WHERE: 32 Distance of fruits from trellis

  33. DATE: 8/14/2013 WHAT: Pear trees, High Density Trellis Ruddick Ranch AGE: ~ 3 yrs TREE HEIGHT: ~9ft VARIETY: Bartlett Ruddick Ranch, Ukiah � WHERE: 33

  34. Work in progress 35 Tree training system & orchard layout Design tool 3D fruit distributions Platform/machine kinematics Worker kinematics & work practices

  35. 36 THANK YOU! Acknowledgements: Numerous California growers. Farm advisors: Rachel Elkins, UCANR Extension, Lake and Mendocino Counties Roger Duncan, UCANR Extension, Stanislaus County Janine Hasey, UC Extension, Sutter & Yuba Counties Chuck Ingels, UCANR Extension, Sacramento County Students: Rajkishan Arikapudi, Farangis Khosro Anjom, Garren Lewis, Fransisco Jimenez. svougioukas@ucdavis.edu

Recommend

More recommend